Nail pulling device and nail pulling apparatus

Abstract

The application relates to a nail pulling device and a nail pulling equipment, and belongs to the technical field of battery manufacturing. The nail pulling device comprises a nail pulling mechanism, a lifting driving element and a jaw assembly, the jaw assembly comprises a plurality of clamping units, a nail missing detection mechanism is arranged on the jaw assembly and comprises a plurality of detection assemblies, the clamping units and the detection assemblies are in one-to-one correspondence, wherein the detection assembly comprises a pressing rod, a detection element, a position sensor and an elastic element, the pressing rod is slidingly installed on the jaw assembly, the two ends of the elastic element are respectively abutted against the jaw assembly and the pressing rod, the detection element is arranged on the pressing rod, and the position sensor is arranged on the jaw assembly. The nail pulling device can detect whether the sealing nail is normally pulled out after the nail is pulled out, is simple in structure, has good nail missing detection precision, and improves the reliability of the nail pulling action. The application further provides a nail pulling equipment comprising the nail pulling device.

Description

Technical Field

[0001] This application relates to the field of battery manufacturing technology, and more specifically, to a nail removal device and nail removal equipment. Background Technology

[0002] In the manufacturing process of lithium batteries, after the battery cells complete the liquid injection process, they need to be sent to the formation equipment. The cell materials inside the battery are activated by the first charge to form a stable electrode interface. The battery cells are then sorted by capacity based on parameters such as voltage and capacity after formation.

[0003] Electrolyte leakage may occur during the formation process, necessitating the removal of temporary sealing pins before the battery is fed into the formation equipment. To improve the reliability of the pin removal process, most pin removal equipment requires a check after removal to confirm whether the sealing pin has been removed from the battery cell. However, current pin removal equipment has a complex structure for detecting missing pins, and its detection accuracy is relatively poor. Utility Model Content

[0004] Therefore, this application proposes a nail removal device and a nail removal equipment that can detect whether the sealing nail has been properly removed after nail removal. It is not only simple in structure, but also has good accuracy in detecting missing nails, thus improving the reliability of the nail removal action.

[0005] The nail removal device according to a first aspect of this application includes: a nail removal mechanism, comprising a lifting drive and a gripper assembly, wherein the lifting drive is used to drive the gripper assembly to move up and down, and the gripper assembly includes a plurality of clamping units spaced apart; and a missing nail detection mechanism disposed on the gripper assembly, comprising a plurality of detection components, wherein the clamping units correspond one-to-one with the detection components; wherein the detection components include a pressure rod, a detection element, a positioning sensor, and an elastic element, wherein the pressure rod is slidably mounted on the gripper assembly, the two ends of the elastic element respectively abut against the gripper assembly and the pressure rod, the detection element is disposed on the pressure rod, and the positioning sensor is disposed on the gripper assembly.

[0006] Optionally, the gripper assembly includes: a lifting bracket, installed on the actuating end of the lifting drive; a first bracket and a second bracket, the first bracket and the second bracket being arranged side by side, both the first bracket and the second bracket being slidably installed on the lifting bracket, the first bracket having a plurality of first grippers spaced apart, the second bracket having a plurality of second grippers spaced apart, the first grippers and the second grippers corresponding one-to-one, and constituting one gripping unit.

[0007] Optionally, the pressure rod is slidably mounted on the first bracket, and the two ends of the elastic member abut against the first bracket and the pressure rod, respectively.

[0008] Optionally, the pressure rod includes a rod body and a pressure block. The first bracket is provided with a through hole, the rod body passes through the through hole, one end of the rod body is provided with the pressure block, and the other end of the rod body is provided with the detection element.

[0009] Optionally, the gripper assembly further includes a first driving member and a second driving member, both of which are mounted on the lifting bracket. The first driving member is used to drive the first bracket to move, and the second driving member is used to drive the second bracket to move, so as to cause the first gripper and the corresponding second gripper to move closer or further apart.

[0010] Optionally, the detection component further includes a connecting bracket, wherein the positioning sensor is fixed to the connecting bracket, and the connecting bracket is detachably connected to the first bracket.

[0011] Optionally, the positioning sensor includes a transmitter and a receiver, which are respectively disposed on both sides of the movement path of the detection element.

[0012] Optionally, the nail removal device further includes: a lateral movement drive mechanism and a lateral movement bracket, the lifting drive component is disposed on the lateral movement bracket, the lateral movement drive mechanism is used to drive the lateral movement bracket to move, and the clamping unit and the corresponding detection component are spaced apart along the driving direction of the lateral movement drive mechanism.

[0013] Optionally, the lifting drive is configured to drive the missing nail detection mechanism to descend to a preset height position. If the positioning sensor can detect the detection element, the positioning sensor is configured to send a removed signal; if the positioning sensor cannot detect the detection element, the positioning sensor is configured to send an unremoved signal.

[0014] The pin-removing device according to the second aspect of this application includes: a battery fixing device for fixing multiple battery cells; the pin-removing device according to the first aspect of this application is disposed on the upper side of the battery fixing device.

[0015] Compared with existing technologies, this solution has the following advantages:

[0016] The nail removal device of this application embodiment includes multiple detection components. After the clamping unit removes the sealing nail from the battery cell, the pressure rod descends to a preset height position. The detection components and a positioning sensor are used to determine whether the pressure rod has pressed down onto the surface of the battery cell, thereby determining whether the sealing nail has been removed. On one hand, the detection components elastically support the pressure rod through elastic elements and share a lifting drive component with the gripper assembly, resulting in a simple structure and simplifying the construction of the nail removal device. On the other hand, since the detection components correspond one-to-one with the clamping units, it can accurately detect whether the sealing nail has been removed for each clamping unit, improving the nail removal accuracy and reliability of the nail removal action.

[0017] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A first-view structural schematic diagram of the nail-removing device provided in an embodiment of this application;

[0020] Figure 2 for Figure 1 A magnified view of a section at point A in the middle;

[0021] Figure 3 A second-view structural schematic diagram of the nail-removing device provided in an embodiment of this application;

[0022] Figure 4 for Figure 3 A magnified view of a section at point B in the middle;

[0023] Figure 5 This is a third-view structural schematic diagram of the nail-removing device provided in the embodiments of this application;

[0024] Figure 6 for Figure 5 A magnified view of a section at point C;

[0025] Figure 7 This is a schematic diagram of the structure of the nail-removing device provided in an embodiment of this application.

[0026] Icons: 100-Nail removal device; 110-Nail removal mechanism; 111-Lifting drive component; 112-Gripper assembly; 1121-Lifting bracket; 1122-First bracket; 1123-Second bracket; 1124-First gripper; 1125-Second gripper; 1126-Through hole; 1127-First drive component; 1128-Second drive component; 113-Clamping unit; 120-Missing nail removal detection mechanism; 121-Detection component; 122-Pressure rod; 1221-Rod body; 1222-Pressure block; 123-Detection component; 124-Position sensor; 1241-Transmitter; 1242-Receiver; 125-Elastic component; 126-Connecting bracket; 131-Horizontal movement bracket; 200-Nail removal equipment; 210-Battery fixing device. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0029] In some embodiments of this application, the pin-removing device 100 is used to remove the sealing pin from the battery cell and to detect whether the sealing pin has been removed from the battery cell.

[0030] like Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, the nail removal device 100 includes a nail removal mechanism 110 and a missed nail removal detection mechanism 120. The nail removal mechanism 110 includes a lifting drive 111 and a gripper assembly 112. The lifting drive 111 drives the gripper assembly 112 to move up and down. The gripper assembly 112 includes multiple clamping units 113, which are spaced apart. The missed nail removal detection mechanism 120 is disposed on the gripper assembly 112 and includes multiple detection components 121. Each clamping unit 113 corresponds to one detection component 121. The detection component 121 includes a pressure rod 122, a detection element 123, a positioning sensor 124, and an elastic element 125. The pressure rod 122 is slidably mounted on the gripper assembly 112. The two ends of the elastic element 125 abut against the gripper assembly 112 and the pressure rod 122, respectively. The detection element 123 is disposed on the pressure rod 122, and the positioning sensor 124 is disposed on the gripper assembly 112.

[0031] Multiple clamping units 113 are spaced apart along the first direction X, multiple detection components 121 are spaced apart along the first direction X, and pressure rod 122 is slidably mounted on the gripper assembly 112 along the vertical direction Z. Elastic member 125 abuts against the gripper assembly 112 and pressure rod 122 along the vertical direction Z, and opens the pressure rod 122 under the action of elastic force.

[0032] The nail removal device 100 of this application embodiment includes multiple detection components 121. After the clamping unit 113 removes the sealing nail from the battery cell, the pressure rod 122 descends to a preset height position. The detection component 123 and the positioning sensor 124 are used to determine whether the pressure rod 122 has pressed down to the surface of the battery cell, thereby determining whether the sealing nail has been removed. On the one hand, the detection component 121 elastically supports the pressure rod 122 through the elastic element 125 and shares the lifting drive component 111 with the gripper assembly 112, which is simple in structure and simplifies the structure of the nail removal device 100. On the other hand, since the detection component 121 corresponds one-to-one with the clamping unit 113, it can accurately detect whether the sealing nail has been removed for each clamping unit 113, improving the nail removal accuracy and the reliability of the nail removal action.

[0033] The lifting drive 111 is a linear cylinder, which drives the gripper assembly 112 to move up and down in the vertical direction Z. In other embodiments, the lifting drive 111 can also be other types of linear drive mechanisms.

[0034] like Figure 1 and Figure 2As shown, in some embodiments of this application, the gripper assembly 112 includes a lifting bracket 1121, a first bracket 1122, and a second bracket 1123. The lifting bracket 1121 is mounted on the execution end of the lifting drive component 111. The first bracket 1122 and the second bracket 1123 are arranged side by side. The first bracket 1122 and the second bracket 1123 are both slidably mounted on the lifting bracket 1121. A plurality of first grippers 1124 are spaced apart on the first bracket 1122, and a plurality of second grippers 1125 are spaced apart on the second bracket 1123. The first grippers 1124 and the second grippers 1125 correspond one-to-one and constitute a gripping unit 113.

[0035] The first bracket 1122 and the second bracket 1123 are arranged side by side along the second direction Y. The first bracket 1122 is slidably mounted on the lifting bracket 1121 along the first direction X via a guide rail assembly. The second bracket 1123 is slidably mounted on the lifting bracket 1121 along the first direction X via a guide rail assembly. A plurality of first grippers 1124 are spaced apart along the first direction X on the first bracket 1122. A plurality of second grippers 1125 are spaced apart along the first direction X on the second bracket 1123.

[0036] The first direction X and the second direction Y are two horizontal directions that are set perpendicular to each other; the first direction X, the second direction Y, and the vertical direction Z are set perpendicular to each other in pairs.

[0037] With this configuration, by moving the first bracket 1122 and the second bracket 1123 along the first direction X, multiple first grippers 1124 can be driven to move synchronously, and multiple second grippers 1125 can move synchronously, thereby realizing the synchronous action of multiple gripping units 113. This configuration is not only simple in structure, but also stable and reliable in operation.

[0038] In other embodiments, the gripping unit 113 may also be a pair of pneumatic fingers; the first gripper 1124 and the corresponding second gripper 1125 may also move closer to or further away from each other along the second direction Y.

[0039] like Figure 2 and Figure 4 As shown, in some embodiments of this application, the pressure rod 122 is slidably mounted on the first bracket 1122, and the two ends of the elastic member 125 abut against the first bracket 1122 and the pressure rod 122 respectively.

[0040] The first bracket 1122 includes a bracket body and a mounting plate. The first gripper 1124 is disposed on the bracket body. The mounting plate is fixed to the side of the bracket body away from the second bracket 1123. The thickness direction of the mounting plate extends along the vertical direction Z. The mounting plate is provided with a through hole 1126. The pressure rod 122 passes through the through hole 1126. The two ends of the elastic member 125 abut against the mounting plate and the pressure rod 122 respectively.

[0041] With this configuration, the pressure rod 122 is installed on the first bracket 1122. When the first bracket 1122 moves along the first direction X, it can drive the detection component 121 to move synchronously. The detection component 121 is set close to the lower battery cell, which can reduce the lifting stroke.

[0042] In other embodiments, the detection component 121 may also be mounted on the lifting bracket 1121 or the second bracket 1123; the pressure rod 122 may also be moved in other directions to the surface of the battery cell.

[0043] like Figure 2 , Figure 4 , Figure 5 and Figure 6 As shown, in some embodiments of this application, the pressure rod 122 includes a rod body 1221 and a pressure block 1222. A through hole 1126 is provided on the first bracket 1122, the rod body 1221 passes through the through hole 1126, a pressure block 1222 is provided at one end of the rod body 1221, and a detection element 123 is provided at the other end of the rod body 1221.

[0044] The rod 1221 extends vertically in the Z direction and passes through the through hole 1126. The lower end of the rod 1221 is connected to the pressure block 1222, and the upper end of the rod 1221 is connected to the detection element 123. The mounting plate of the first bracket 1122 includes an upper surface and a lower surface along the vertical Z direction. The elastic element 125 is a straight spring and is sleeved on the rod 1221. The two ends of the elastic element 125 abut against the pressure block 1222 and the lower surface of the mounting plate, respectively, so as to maintain the downward extension of the pressure block 1222 without external force.

[0045] The pressure block 1222 and the rod 1221 can be integrally formed, or they can be connected by threads or snap-fit, etc.; the pressure rod 122 can be a bolt, with the pressure block 1222 installed at the end of the bolt, and the nut serving as the detection element 123; the detection element 123 and the rod 1221 can also be two independent parts, which are assembled and connected together.

[0046] This configuration simplifies the construction of the pressure bar 122 and the detection component 121, reducing the manufacturing cost of the missing nail detection mechanism 120.

[0047] In other embodiments, the pressure block 1222 can also be moved by extending a cylinder.

[0048] like Figure 2As shown, in some embodiments of this application, the gripper assembly 112 further includes a first driving member 1127 and a second driving member 1128. Both the first driving member 1127 and the second driving member 1128 are mounted on the lifting bracket 1121. The first driving member 1127 is used to drive the first bracket 1122 to move, and the second driving member 1128 is used to drive the second bracket 1123 to move, so as to drive the first gripper 1124 and the corresponding second gripper 1125 to move closer or further apart.

[0049] The first driving member 1127 and the second driving member 1128 are both linear cylinders. The first driving member 1127 and the second driving member 1128 extend in opposite directions along the first direction X to drive the first bracket 1122 and the second bracket 1123 to move relative to each other along the first direction X, thereby causing the clamping unit 113 to open or clamp.

[0050] This configuration not only allows for independent movement of the first gripper 1124 and the second gripper 1125, improving the movement accuracy of each gripper, but also reduces the travel distance of each gripper in the first direction X, thus reducing the space requirements of the gripper assembly 112 during the clamping of the sealing nail.

[0051] In other embodiments, the first bracket 1122 and the second bracket 1123 can also be driven to move synchronously simultaneously by the same driving element.

[0052] like Figure 2 As shown, in some embodiments of this application, the detection component 121 further includes a connecting bracket 126, the position sensor 124 is fixed to the connecting bracket 126, and the connecting bracket 126 is detachably connected to the first bracket 1122.

[0053] The connecting bracket 126 is provided with several mounting holes. The connecting bracket 126 is fixed to the first bracket 1122 by the cooperation of the threaded parts with the mounting holes. For example, a part of the connecting bracket 126 is fitted to the upper surface of the mounting plate of the first bracket 1122 and is fastened by the threaded parts. The connecting bracket 126 is provided with an opening corresponding to the through hole 1126 so that the pressure rod 122 can pass through.

[0054] By setting the connecting bracket 126, the assembly process of the detection component 121 can be simplified and the assembly efficiency of the missing nail detection mechanism 120 can be improved.

[0055] In other embodiments, the connecting bracket 126 may be omitted, and the components of the detection assembly 121 may be directly mounted on the first bracket 1122.

[0056] like Figure 2As shown, in some embodiments of this application, the positioning sensor 124 includes a transmitter 1241 and a receiver 1242, which are respectively disposed on both sides of the moving path of the detection element 123.

[0057] For example, both the transmitter 1241 and the receiver 1242 are disposed on the upper side of the mounting plate of the first bracket 1122. The transmitter 1241 and the receiver 1242 are disposed opposite each other along the first direction X. The detection element 123 is disposed between the transmitter 1241 and the receiver 1242 in the first direction X. When the detection element 123 passes by, the receiver 1242 detects the detection element 123 and sends a signal that it has been removed.

[0058] This configuration allows for reliable determination of whether the detection element 123 has moved into position, providing high detection accuracy. It also allows for flexible setting of the positions of the transmitter 1241 and receiver 1242, providing sufficient space for the detection element 123 to move.

[0059] In other embodiments, the position sensor 124 may also be a proximity sensor, etc.

[0060] like Figure 3 , Figure 5 and Figure 6 As shown, in some embodiments of this application, the nail removal device 100 further includes a transverse drive mechanism and a transverse support 131. The lifting drive component 111 is disposed on the transverse support 131. The transverse drive mechanism is used to drive the transverse support 131 to move. The clamping unit 113 and the corresponding detection component 121 are spaced apart along the driving direction of the transverse drive mechanism.

[0061] The lateral drive mechanism drives the lateral support 131 to move along the second direction Y, so as to move the gripper assembly 112 and the detection assembly 121 to the upper side of the battery cell in sequence; the lateral drive mechanism is a common motor belt conveyor mechanism, which will not be described in detail here.

[0062] By setting a transverse drive mechanism, the gripper assembly 112 can be moved to the upper side of the battery cell, and after the sealing nail is removed, the detection assembly 121 can be moved to the upper side of the battery cell, so that the detection assembly 121 can detect whether the sealing nail has been removed.

[0063] In other embodiments, the missing pin detection mechanism 120 may also be provided with an independent lateral drive to drive the detection component 121 to move along the second direction Y to the upper side of the battery cell.

[0064] Furthermore, the transverse drive mechanism is also used to drive the gripper assembly 112 to switch between the nail removal position and the unloading position.

[0065] When the gripper assembly 112 removes the sealing pin at the pin removal position and detects that the sealing pin has been removed, the lateral drive mechanism moves the gripper assembly 112 to the unloading position, and the clamping unit 113 releases the sealing pin, thereby realizing automated unloading.

[0066] In some embodiments of this application, the lifting drive 111 is configured to drive the missing nail detection mechanism 120 to descend to a preset height position. If the positioning sensor 124 can detect the detection element 123, the positioning sensor 124 is configured to send a removed signal; if the positioning sensor 124 cannot detect the detection element 123, the positioning sensor 124 is configured to send an unremoved signal.

[0067] The nail removal device 100 also includes a control device, which is electrically connected to the position sensor 124, the lifting drive 111, the first drive 1127, the second drive 1128, and the lateral drive mechanism. If the position sensor 124 sends a signal indicating that the nail has been removed, the lifting drive 111 and the lateral drive mechanism will respond, causing the gripper assembly 112 to rise and move to the unloading position for unloading. If the position sensor 124 sends a signal indicating that the nail has not been removed, the terminal will display a signal indicating a fault at the specific location, and manual handling will be required.

[0068] It is understandable that, based on the implementation of the lifting drive component 111 as a linear cylinder, the preset height position is the same as the nail removal height position. If an individual pressure rod 122 is blocked by the sealing nail and cannot continue to descend, the detection component 123 on the upper side of the pressure rod 122 cannot move into place, and the positioning sensor 124 cannot detect the detection component 123.

[0069] like Figure 7 As shown, the pin-removing device 200 of some embodiments of this application includes a battery fixing device 210 and a pin-removing device 100. The battery fixing device 210 is used to fix multiple battery cells, and the pin-removing device 100 is disposed on the upper side of the battery fixing device 210.

[0070] The battery fixing device 210 can be a restraint tray. The battery fixing device 210 is set at the pin removal position. Multiple battery cells are spaced apart along the first direction X. When the gripper assembly 112 moves to the pin removal position, the gripper assembly 112 corresponds to each battery cell.

[0071] Due to the characteristics of the nail removal device 100 in this application embodiment, the nail removal equipment 200 in this application embodiment has a simple structure, good accuracy in detecting missing nails, and improves the reliability of the nail removal action.

[0072] like Figures 1 to 6 As shown, the working principle of the nail-pulling device 100 in this embodiment is as follows:

[0073] The transverse drive mechanism moves the gripper assembly 112 to the nail-pulling position;

[0074] The lifting drive 111 drives the gripper assembly 112 to descend. The first gripper 1124 and the corresponding second gripper 1125 are located on both sides of the sealing nail along the first direction X. The first drive 1127 and the second drive 1128 jointly drive the first gripper 1124 and the corresponding second gripper 1125 to move closer to each other and clamp the sealing nail. The lifting drive 111 drives the gripper assembly 112 to rise and remove the sealing nail from the battery cell.

[0075] The transverse drive mechanism moves the detection component 121 to the upper side of the battery cell. The lifting drive component 111 drives the gripper assembly 112 to descend again. The gripper assembly 112 drives the detection component 121 to descend synchronously until the pressure block 1222 of the pressure rod 122 abuts against the surface of the battery cell.

[0076] If the pressure rod 122 can abut against the surface of the battery cell, it is determined that the sealing nail has been properly removed. At this time, the position sensor 124 can detect the detection element 123 and send a removal signal.

[0077] If the pressure rod 122 is obstructed during descent and cannot contact the surface of the battery cell, it is determined that the sealing nail has not been properly removed. At this time, the positioning sensor 124 cannot detect the detection element 123 and sends a signal that it has not been removed, and the matter is transferred to manual handling.

[0078] If all detection components 121 send a removed signal, the lifting drive 111 responds and drives the gripper assembly 112 to rise. The lateral drive mechanism drives the gripper mechanism 112 to move to the unloading position, releases the sealing nail, and then performs the nail removal operation in the next cycle.

[0079] It should be noted that, where there is no conflict, the features in the embodiments of this application can be combined with each other.

[0080] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A nail-removing device (100), characterized in that, include: The nail removal mechanism (110) includes a lifting drive (111) and a gripper assembly (112). The lifting drive (111) is used to drive the gripper assembly (112) to lift. The gripper assembly (112) includes a plurality of gripping units (113) which are spaced apart. A missing nail detection mechanism (120) is provided on the gripper assembly (112) and includes multiple detection components (121), with each clamping unit (113) corresponding to one of the detection components (121). The detection component (121) includes a pressure rod (122), a detection element (123), a positioning sensor (124), and an elastic element (125). The pressure rod (122) is slidably mounted on the gripper assembly (112). The two ends of the elastic element (125) abut against the gripper assembly (112) and the pressure rod (122), respectively. The detection element (123) is disposed on the pressure rod (122), and the positioning sensor (124) is disposed on the gripper assembly (112).

2. The nail-pulling device (100) according to claim 1, characterized in that, The gripper assembly (112) includes: A lifting bracket (1121) is installed at the actuating end of the lifting drive component (111); The first support (1122) and the second support (1123) are arranged side by side. The first support (1122) and the second support (1123) are slidably mounted on the lifting support (1121). The first support (1122) is provided with a plurality of first grippers (1124) at intervals, and the second support (1123) is provided with a plurality of second grippers (1125) at intervals. The first grippers (1124) and the second grippers (1125) correspond one-to-one and constitute a clamping unit (113).

3. The nail-pulling device (100) according to claim 2, characterized in that, The pressure rod (122) is slidably mounted on the first bracket (1122), and the two ends of the elastic member (125) abut against the first bracket (1122) and the pressure rod (122) respectively.

4. The nail-pulling device (100) according to claim 3, characterized in that, The pressure rod (122) includes a rod body (1221) and a pressure block (1222). The first bracket (1122) is provided with a through hole, the rod body (1221) passes through the through hole, one end of the rod body (1221) is provided with the pressure block (1222), and the other end of the rod body (1221) is provided with the detection element (123).

5. The nail-pulling device (100) according to claim 2, characterized in that, The gripper assembly (112) further includes a first drive member (1127) and a second drive member (1128). The first drive member (1127) and the second drive member (1128) are both mounted on the lifting bracket (1121). The first drive member (1127) is used to drive the first bracket (1122) to move, and the second drive member (1128) is used to drive the second bracket (1123) to move, so as to drive the first gripper (1124) and the corresponding second gripper (1125) to move closer or further apart.

6. The nail-pulling device (100) according to claim 2, characterized in that, The detection component (121) further includes: A connecting bracket (126) is provided, the positioning sensor (124) is fixed to the connecting bracket (126), and the connecting bracket (126) is detachably connected to the first bracket (1122).

7. The nail-pulling device (100) according to claim 1, characterized in that, The positioning sensor (124) includes a transmitter (1241) and a receiver (1242), which are respectively disposed on both sides of the moving path of the detection element (123).

8. The nail-pulling device (100) according to claim 1, characterized in that, The nail-pulling device (100) further includes: A transverse drive mechanism and a transverse support (131) are provided. The lifting drive component (111) is disposed on the transverse support (131). The transverse drive mechanism is used to drive the transverse support (131) to move. The clamping unit (113) and the corresponding detection component (121) are spaced apart along the driving direction of the transverse drive mechanism.

9. The nail-pulling device (100) according to claim 1, characterized in that, The lifting drive (111) is configured to drive the missing nail detection mechanism (120) to descend to a preset height position. If the positioning sensor (124) can detect the detection element (123), the positioning sensor (124) is configured to send a removed signal. If the position sensor (124) fails to detect the detection element (123), the position sensor (124) is configured to send an unremoved signal.

10. A nail-removing device (200), characterized in that, include: Battery fixing device (210) for fixing multiple battery cells; The nail-removing device (100) as described in any one of claims 1 to 9 is disposed on the upper side of the battery fixing device (210).

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